Package frc.robot

Class Constants.WristConstants

java.lang.Object
frc.robot.Constants.WristConstants
Enclosing class:
Constants
public static class Constants.WristConstants extends Object
Constants used to configure the wrist.

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    static final int
    CURRENT_LIMIT
    Current limit in amps.
    static final double
    KD
    Wrist kD.
    static final double
    KG
    Wrist kG.
    static final double
    KI
    Wrist kI.
    static final double
    KMAX_OUTPUT
    Wrist kMaxOutput.
    static final double
    KMIN_OUTPUT
    Wrist kMinOutput.
    static final double
    KP
    Wrist kP.
    static final double
    KS
    Wrist kS.
    static final double
    KV
    Wrist kV.
    static final double
    MAX_ACCELERATION
    Maximum acceleration in degrees/s^2.
    static final double
    MAX_ALGAE_POSITION_WITH_ELEVATOR
    Maximum position that the wrist can be while holding an algae (to make sure it doesn't hit the elevator), in degrees.
    static final double
    MAX_ALGAE_POSITION_WITHOUT_ELEVATOR
    Maximum position that the wrist can be while holding an algae if the elevator is fully extended, in degrees.
    static final double
    MAX_POSITION
    Maximum position in degrees.
    static final double
    MAX_VELOCITY
    Maximum velocity in degrees/s.
    static final double
    MIN_POSITION
    Minimum position when the elevator is not lowered, (determined by MAX_LOWERED_POSITION) in degrees.
    static final int
    MOTOR_ID
    CAN Motor ID for the wrist.
    static final double
    POSITION_CONVERSION_FACTOR
    Conversion factor from rotation to degrees.
    static final double
    SAFE_MAX_POSITION
    Maximum safe position while the elevator is raised (so it doesn't collide with the metal thing on top), in degrees.
    static final double
    SAFE_MIN_POSITION
    Minimum safe position while the elevator is lowered, in degrees.
    static final double
    TOLERANCE
    Tolerance for the target to be considered reached in degrees.
    static final double
    VELOCITY_CONVERSION_FACTOR
    Conversion factor from rotation to degrees per second.
    static final double
    ZERO_OFFSET
    Zero offset, in rotations, because reasons.

  • Constructor Summary

    Constructors
    Constructor
    Description
    WristConstants()
     

  • Method Summary

    Methods inherited from class java.lang.Object

    clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

  • Field Details

    • MOTOR_ID

      public static final int MOTOR_ID
      CAN Motor ID for the wrist.
      See Also:

    • KP

      public static final double KP
      Wrist kP.
      See Also:

    • KI

      public static final double KI
      Wrist kI.
      See Also:

    • KD

      public static final double KD
      Wrist kD.
      See Also:

    • KS

      public static final double KS
      Wrist kS.
      See Also:

    • KG

      public static final double KG
      Wrist kG.
      See Also:

    • KV

      public static final double KV
      Wrist kV.
      See Also:

    • KMIN_OUTPUT

      public static final double KMIN_OUTPUT
      Wrist kMinOutput.
      See Also:

    • KMAX_OUTPUT

      public static final double KMAX_OUTPUT
      Wrist kMaxOutput.
      See Also:

    • MAX_VELOCITY

      public static final double MAX_VELOCITY
      Maximum velocity in degrees/s.
      See Also:

    • MAX_ACCELERATION

      public static final double MAX_ACCELERATION
      Maximum acceleration in degrees/s^2.
      See Also:

    • MAX_POSITION

      public static final double MAX_POSITION
      Maximum position in degrees.
      See Also:

    • MIN_POSITION

      public static final double MIN_POSITION
      Minimum position when the elevator is not lowered, (determined by MAX_LOWERED_POSITION) in degrees.
      See Also:

    • SAFE_MIN_POSITION

      public static final double SAFE_MIN_POSITION
      Minimum safe position while the elevator is lowered, in degrees.
      See Also:

    • SAFE_MAX_POSITION

      public static final double SAFE_MAX_POSITION
      Maximum safe position while the elevator is raised (so it doesn't collide with the metal thing on top), in degrees.
      See Also:

    • MAX_ALGAE_POSITION_WITH_ELEVATOR

      public static final double MAX_ALGAE_POSITION_WITH_ELEVATOR
      Maximum position that the wrist can be while holding an algae (to make sure it doesn't hit the elevator), in degrees.
      See Also:

    • MAX_ALGAE_POSITION_WITHOUT_ELEVATOR

      public static final double MAX_ALGAE_POSITION_WITHOUT_ELEVATOR
      Maximum position that the wrist can be while holding an algae if the elevator is fully extended, in degrees.
      See Also:

    • POSITION_CONVERSION_FACTOR

      public static final double POSITION_CONVERSION_FACTOR
      Conversion factor from rotation to degrees.
      See Also:

    • VELOCITY_CONVERSION_FACTOR

      public static final double VELOCITY_CONVERSION_FACTOR
      Conversion factor from rotation to degrees per second.
      See Also:

    • ZERO_OFFSET

      public static final double ZERO_OFFSET
      Zero offset, in rotations, because reasons.
      See Also:

    • CURRENT_LIMIT

      public static final int CURRENT_LIMIT
      Current limit in amps.
      See Also:

    • TOLERANCE

      public static final double TOLERANCE
      Tolerance for the target to be considered reached in degrees.
      See Also:

  • Constructor Details

    • WristConstants

      public WristConstants()